# axang2tform

Convert axis-angle rotation to homogeneous transformation

## Syntax

``tform = axang2tform(axang)``

## Description

example

````tform = axang2tform(axang)` converts a rotation given in axis-angle form, `axang`, to a homogeneous transformation matrix, `tform`. When using the transformation matrix, premultiply it with the coordinates to be transformed (as opposed to postmultiplying).```

## Examples

collapse all

```axang = [1 0 0 pi/2]; tform = axang2tform(axang)```
```tform = 4×4 1.0000 0 0 0 0 0.0000 -1.0000 0 0 1.0000 0.0000 0 0 0 0 1.0000 ```

## Input Arguments

collapse all

Rotation given in axis-angle form, specified as an n-by-4 matrix of n axis-angle rotations. The first three elements of every row specify the rotation axis, and the last element defines the rotation angle (in radians).

Example: `[1 0 0 pi/2]`

## Output Arguments

collapse all

Homogeneous transformation matrix, specified by a 4-by-4-by-n matrix of n homogeneous transformations. When using the transformation matrix, premultiply it with the coordinates to be formed (as opposed to postmultiplying).

Example: `[0 0 1 0; 0 1 0 0; -1 0 0 0; 0 0 0 1]`